EP1588910A1 - Procédé pour l'analyse et le réglage de la dynamique de marche d'un véhicule automobile et véhicule pour la mise en oeuvre de ce procédé - Google Patents

Procédé pour l'analyse et le réglage de la dynamique de marche d'un véhicule automobile et véhicule pour la mise en oeuvre de ce procédé Download PDF

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Publication number
EP1588910A1
EP1588910A1 EP05007490A EP05007490A EP1588910A1 EP 1588910 A1 EP1588910 A1 EP 1588910A1 EP 05007490 A EP05007490 A EP 05007490A EP 05007490 A EP05007490 A EP 05007490A EP 1588910 A1 EP1588910 A1 EP 1588910A1
Authority
EP
European Patent Office
Prior art keywords
image data
control
motor vehicle
information
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05007490A
Other languages
German (de)
English (en)
Other versions
EP1588910B1 (fr
Inventor
Helmut Dr. Riedel
Boris Dr. Buschardt
Holger Dr. Grünleitner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
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Audi AG
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Filing date
Publication date
Application filed by Audi AG filed Critical Audi AG
Publication of EP1588910A1 publication Critical patent/EP1588910A1/fr
Application granted granted Critical
Publication of EP1588910B1 publication Critical patent/EP1588910B1/fr
Ceased legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/089—Lane monitoring; Lane Keeping Systems using optical detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle

Definitions

  • the invention relates to a method for analyzing and regulating the driving dynamics a motor vehicle, including several a measure of the current driving situation performing information was included and analyzed be evaluated, the scheme depending on the analysis result he follows.
  • the invention is therefore based on the problem of specifying a method that a better analysis and subsequently a differentiated regulation of the Driving dynamics enabled.
  • the translation and / or the rotation of the motor vehicle relative to a stationary reference system be determined.
  • the translation and rotation can be used for certain excellent points of the motor vehicle, e.g. for the focus, or for certain axes, e.g. the vehicle longitudinal axis, indicated become.
  • the speed and / or acceleration vectors be suitably for specific points of the motor vehicle or indicated along the longitudinal or transverse axis.
  • speed and Acceleration values also in the context of previously usual driving dynamics analyzes can be determined, can be with the inventive method get a useful redundancy. It can e.g. a comparison of with The usual sensors determined values with those based on image data Values are performed so that optimization is possible and erroneous Values are detected with a greater probability. Thereby increases driving safety in borderline situations of everyday traffic, but also for sporty driving.
  • a further embodiment of the invention provides that based on the at least one information obtained from image data of the sideslip angle and / or the yaw rate and / or the yaw rate and / or the Roll angle can be determined.
  • yaw angle and / or yaw rate Thus, in turn, a redundancy of the values is possible, alternatively Of course, it can also be considered, some previously common driving dynamics sensors save.
  • the image-based determination of the slip angle is reliable and inexpensive and replaces the previous inaccurate and erroneous estimate of this size.
  • the roll angle be determined, which plays a role when the vehicle is relatively fast traversing tight turns, e.g. on a motorway exit.
  • a camera is used.
  • This can be an example be in the vehicle existing camera, the part of another driver assistance system is, e.g. a lane keeping or spacing system.
  • alternative more complicated image acquisition systems are conceivable, e.g. the vehicle environment capture three-dimensionally.
  • the image data can according to the invention continuously or with selectable Picture clock are determined. It is expedient if a vehicle-side Control and processing device analyzes the image data and / or the at least one image pickup means controls.
  • An embodiment of the invention provides that a comparison of the image data and / or the at least one information determined on the basis of the image data is performed with desired data and / or setpoints and the vehicle dynamics control depending on the comparison result.
  • target data and / or set values can be used for standard situations, e.g. in a possible Storage unit be deposited.
  • the desired data and / or desired values from the driver's request in particular derive from the accelerator pedal, brake pedal and steering wheel position.
  • the derivative the driver's request is done again by means of various sensors. Is the information obtained from the image data or a determined by the driver's request deviating motion of the vehicle, so the discrepancy can be used as a control variable for a vehicle dynamics control become. For example, a deviation of the steering wheel position, the desired Direction of travel reflects, from the actual direction of movement of the vehicle can for a driving dynamics stabilizing engagement used in the drive, the brakes or the steering of the vehicle become.
  • the vehicle dynamics control in dependence various settings made by the driver changeable, wherein in particular a setting for safety-oriented and / or athletic Driving can be provided. Also further gradations of the settings are conceivable.
  • the inventive method can in the context of an electronic Stability Program (ESP), with only a few Additions to an already existing ESP system are necessary. Naturally The method can also be applied to other already familiar driving dynamics systems be put on.
  • ESP electronic Stability Program
  • the invention further relates to a Motor vehicle comprising a device for analyzing and regulating the Driving dynamics comprising means for holding several a measure of the current Driving situation representing information and a control and Processing device for evaluating the information as part of a Analysis, wherein the control and processing means for regulation is formed as a function of the analysis result.
  • the car is characterized by the fact that the control and processing device Image recording means for taking pictures of the vehicle environment and means for determining at least one measure for the current driving situation representing information from the image data assigned.
  • the control and processing device is for evaluation the at least one piece of information together with the further information as part of the analysis to determine the analysis result educated.
  • the device for determining at least one of Image data obtained information for determining the translation and / or Rotation of the vehicle relative to a resting frame based formed on the at least one information obtained from image data be. Additionally or alternatively, the device for determining at least a velocity vector and / or acceleration vector and / or an angular velocity vector and / or an angular acceleration vector for the vehicle relative to a stationary reference system based on the at least one information obtained from image data be educated.
  • a resting frame of reference is, for example the recorded vehicle environment, the vectors and other values can turn for excellent points or axles of the vehicle be determined.
  • the device for determining at least one image data obtained from Information for determining the slip angle and / or the Yaw angle and / or the yaw rate and / or the roll angle formed based on the at least one image-based information is.
  • the image recording means comprise according to the invention at least one camera and can be used for continuous recording of image data or for recording the image data to be formed with selectable image clock.
  • the control and Processing device is for image data analysis and / or for control formed of the image pickup means.
  • the control and processing device for comparing the image data and / or the at least an information determined by the image data with target data and / or Setpoints and the vehicle dynamics control depending on the comparison result is trained.
  • the control and processing device Means for determining the desired data and / or setpoint values the driver's request, in particular the accelerator pedal, brake pedal and steering wheel position includes.
  • the control and processing device can in a further embodiment the invention, a device for adjusting the vehicle dynamics control be assigned by the driver, which in particular a setting for safety-conscious and / or sporty driving, wherein the control and processing means for evaluating the each selected setting is formed. It is also conceivable that Based on the information obtained from image data, it is determined whether it for example, rain or busy traffic prevails, whereupon a corresponding trained control and processing device a hiring recommendation can spend to the driver.
  • the image pickup means, the means for determining at least one of Image data obtained information and the control and processing device may be formed as part of an ESP system. It is also possible, only individual components, such as the control and processing equipment, into the ESP system. In place of Of course, ESP systems can also be used today with other standard vehicle dynamics systems to step.
  • Fig. 1 shows a flow chart of the method according to the invention for analysis and control of driving dynamics.
  • the boxes a, b and c symbolize doing the essentially parallel recording different Data as well as the determination of various a measure of the current driving situation representing information from this data.
  • step a by an image pickup means, e.g. a video sensor, the vehicle environment added. From the image data can be information about the current Driving situation to be won.
  • step b are used e.g. with the aid of yaw rate sensors or acceleration sensors further up-to-date information is determined.
  • Step c where e.g. with the accelerator pedal, brake pedal and steering wheel position the so-called driver request is derived.
  • the recorded data and information of steps a, b and c flow into the vehicle dynamics analysis d.
  • the vehicle dynamics analysis d e.g. from a and b speed and Acceleration vectors determined.
  • the determined vectors can subsequently be compared to differences.
  • Based on the image data obtained information from a it is possible the slip angle and / or to determine the roll angle and other sizes.
  • the Step d is used with the input variables from a, b and c the driving dynamics of Vehicle analyzed and formed in step e an analysis result.
  • step f can then be a corresponding vehicle dynamics control, For example, a brake intervention, a control of the engine, a Control of power distribution on the drive wheels, a control of the transmission and steering control via steering moments or steering angles be performed.
  • a redetermination of the data and current Information in steps a, b and c and a subsequent analysis reflects the success of the scheme and allows appropriate Corrections. This regulatory process can be repeated continuously.
  • FIG. 2 shows a schematic diagram of a motor vehicle according to the invention in a driving situation with uniform lateral drift.
  • the motor vehicle 1 is in the illustrated situation on a road 2 and immediately travels the left lane.
  • a camera 3 is installed, which serves as an image pickup means and the optical axis corresponds to the longitudinal axis of the motor vehicle in the illustrated case.
  • cameras which are directed down to the subfloor, or directed downwards on or in the exterior mirror or obliquely directed backwards-down, for example, in the area of the rear license plate illumination above the license plate are mounted, then An already existing rearview camera can be used.
  • a wheel speed sensor 4 and a yaw rate sensor 5 are sketched, via which, as well as via the camera, data and information are received, which flow to a control and processing device 6 for evaluation.
  • the vehicle shown is in a situation in which it drifts without acceleration, ie at a constant speed v y , without turning. Such a situation can occur on an icy slippery road surface.
  • Conventional vehicle dynamics systems do not recognize this situation since there is neither lateral acceleration nor rotation of the vehicle.
  • the lateral drift at a constant speed can be correctly recognized by means of the information obtained from the image data provided by the camera 3, so that an appropriate control is possible via the control and processing device 6.
  • Fig. 3 shows a sketch of a motor vehicle according to the invention in a Cornering.
  • the motor vehicle 1 in turn has a camera 3, alternatively Of course, other image pickup means are also conceivable.
  • the image data and information obtained from image data of the camera 3 flow to the control and processing device 6 as well as other data and information too, here by dots with corresponding Arrows are symbolized.
  • the vehicle 1 tilts in this case To one side, the wheels on the other side of the curve can get under Something lift off the ground, here indicated by the angle 7. Also this dangerous situation becomes with conventional driving dynamics analyzes and control systems are not recognized correctly. About one or more Cameras and / or the definition of an artificial horizon, however, can be to analyze the rolling of the vehicle correctly and a reasonable Regulation is possible.
  • the driving dynamics are reliably detected, and some "deficits" in recent vehicles with vehicle dynamics systems are eliminated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
EP20050007490 2004-04-23 2005-04-06 Procédé pour l'analyse et le réglage de la dynamique de marche d'un véhicule automobile et véhicule pour la mise en oeuvre de ce procédé Ceased EP1588910B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004019832 2004-04-23
DE200410019832 DE102004019832B3 (de) 2004-04-23 2004-04-23 Verfahren zur Analyse und Regelung der Fahrdynamik eines Kraftfahrzeugs sowie Kraftfahrzeug zur Durchführung des Verfahrens

Publications (2)

Publication Number Publication Date
EP1588910A1 true EP1588910A1 (fr) 2005-10-26
EP1588910B1 EP1588910B1 (fr) 2012-03-14

Family

ID=34934792

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EP20050007490 Ceased EP1588910B1 (fr) 2004-04-23 2005-04-06 Procédé pour l'analyse et le réglage de la dynamique de marche d'un véhicule automobile et véhicule pour la mise en oeuvre de ce procédé

Country Status (2)

Country Link
EP (1) EP1588910B1 (fr)
DE (1) DE102004019832B3 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007017476A1 (fr) * 2005-08-05 2007-02-15 Continental Teves Ag & Co Ohg Procede de stabilisation d'un vehicule automobile sur la base de donnees d'image et systeme de controle dynamique de trajectoire
DE102007042481A1 (de) * 2007-09-06 2009-03-12 Wabco Gmbh Fahrzeugsteuersystem für einen Kraftwagen
EP2674337A1 (fr) * 2012-06-14 2013-12-18 Volkswagen Aktiengesellschaft Procédé destiné à générer un signal d'angle de dérapage
EP3495222A4 (fr) * 2016-08-05 2020-03-11 Hitachi Automotive Systems, Ltd. Dispositif de capture d'image

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014208625A1 (de) * 2014-05-08 2015-11-12 Continental Teves Ag & Co. Ohg Verfahren zur Regelung der Fahrdynamik eines Kraftfahrzeugs
DE102017205973A1 (de) * 2017-04-07 2018-10-11 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Ermitteln eines in einem Gierratensignal eines Gierratensensors eines Kraftfahrzeugs enthaltenen Versatzes sowie Steuervorrichtung und Kraftfahrzeug

Citations (6)

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JPH0579850A (ja) * 1991-09-20 1993-03-30 Hitachi Ltd 車両ヨーレート検出装置
EP0945319A1 (fr) * 1998-03-25 1999-09-29 Lucent Technologies Inc. Détermination des propriétés dynamiques de véhicules automobiles
EP1075992A2 (fr) 1999-08-09 2001-02-14 Toyota Jidosha Kabushiki Kaisha Dispositif de contrôle de la stabilité pour véhicules automobiles avec un système de détection d'obstacle et une commande de freinage automatique
EP1239355A2 (fr) * 2001-03-09 2002-09-11 Audi Ag Dispositif et procédé d'assistance au conducteur d'un véhicule
DE10127619A1 (de) * 2001-06-07 2002-12-12 Daimler Chrysler Ag Verfahren und Vorrichtung zur dynamischen Einstellung einer Fahrzeugkomponente
DE10204128A1 (de) * 2002-02-01 2003-08-07 Bosch Gmbh Robert Vorrichtung zur Überrollerkennung

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DE3616907A1 (de) * 1986-05-20 1987-11-26 Hans Prof Dr Ing Marko Einrichtung zur regelung der drehgeschwindigkeit eines kraftfahrzeuges um die hochachse
JP3965218B2 (ja) * 1996-03-29 2007-08-29 日産自動車株式会社 車両のブレーキ制御システム
DE19855332A1 (de) * 1998-12-01 2000-06-08 Daimler Chrysler Ag Verfahren und Vorrichtung zum Bestimmen von Kraftschluß und Kraftschlußgrenze bei Fahrzeugreifen
DE19962549C1 (de) * 1999-11-03 2001-08-23 Daimler Chrysler Ag Verfahren und Vorrichtung zur Durchführung eines automatischen Bremsvorgangs bei Kurvenfahrt
GB0002292D0 (en) * 2000-02-02 2000-03-22 Jaguar Cars Motor vehicle dynamic stability control
DE10251949A1 (de) * 2002-11-08 2004-05-19 Robert Bosch Gmbh Fahrdynamikregelung mit Bildsensorsystem

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0579850A (ja) * 1991-09-20 1993-03-30 Hitachi Ltd 車両ヨーレート検出装置
EP0945319A1 (fr) * 1998-03-25 1999-09-29 Lucent Technologies Inc. Détermination des propriétés dynamiques de véhicules automobiles
EP1075992A2 (fr) 1999-08-09 2001-02-14 Toyota Jidosha Kabushiki Kaisha Dispositif de contrôle de la stabilité pour véhicules automobiles avec un système de détection d'obstacle et une commande de freinage automatique
EP1239355A2 (fr) * 2001-03-09 2002-09-11 Audi Ag Dispositif et procédé d'assistance au conducteur d'un véhicule
DE10127619A1 (de) * 2001-06-07 2002-12-12 Daimler Chrysler Ag Verfahren und Vorrichtung zur dynamischen Einstellung einer Fahrzeugkomponente
DE10204128A1 (de) * 2002-02-01 2003-08-07 Bosch Gmbh Robert Vorrichtung zur Überrollerkennung

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PATENT ABSTRACTS OF JAPAN vol. 017, no. 412 (P - 1583) 30 July 1993 (1993-07-30) *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007017476A1 (fr) * 2005-08-05 2007-02-15 Continental Teves Ag & Co Ohg Procede de stabilisation d'un vehicule automobile sur la base de donnees d'image et systeme de controle dynamique de trajectoire
DE102007042481A1 (de) * 2007-09-06 2009-03-12 Wabco Gmbh Fahrzeugsteuersystem für einen Kraftwagen
EP2201534A1 (fr) * 2007-09-06 2010-06-30 WABCO GmbH Système de commande pour véhicule automobile
US8396655B2 (en) 2007-09-06 2013-03-12 Wabco Gmbh Motor vehicle control system
DE102007042481B4 (de) 2007-09-06 2022-04-07 Zf Cv Systems Hannover Gmbh Fahrzeugsteuersystem für einen Kraftwagen
EP2674337A1 (fr) * 2012-06-14 2013-12-18 Volkswagen Aktiengesellschaft Procédé destiné à générer un signal d'angle de dérapage
EP3495222A4 (fr) * 2016-08-05 2020-03-11 Hitachi Automotive Systems, Ltd. Dispositif de capture d'image
US10810448B2 (en) 2016-08-05 2020-10-20 Hitachi Automotive Systems, Ltd. Image-capturing device

Also Published As

Publication number Publication date
DE102004019832B3 (de) 2005-11-03
EP1588910B1 (fr) 2012-03-14

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